Add bridge scene to the testbed application

CHANGELOG.md

@@ -15,6 +15,7 @@ do not hesitate to take a look at the user manual.
  - Method Joint::getReactionTorque() has been added to retrieve the current reaction torque of a joint
  - Method RigidBody::setLinearLockAxisFactor() to lock the translational movement of a body along the world-space x, y and z axes
  - Method RigidBody::setAngularLockAxisFactor() to lock the rotational movement of a body around the world-space x, y and z axes
+ - Bridge scene has been added to the testbed application
 
 ### Changed
 

testbed/CMakeLists.txt

@@ -150,6 +150,8 @@ set(SCENES_SOURCES
     scenes/pile/PileScene.cpp
     scenes/boxtower/BoxTowerScene.h
     scenes/boxtower/BoxTowerScene.cpp
+    scenes/bridge/BridgeScene.h
+    scenes/bridge/BridgeScene.cpp
 )
 
 # Create the executable

testbed/scenes/bridge/BridgeScene.cpp

@@ -0,0 +1,241 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "BridgeScene.h"
+#include <cmath>
+
+// Namespaces
+using namespace openglframework;
+using namespace bridgescene;
+
+// Constructor
+BridgeScene::BridgeScene(const std::string& name, EngineSettings& settings)
+      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+
+    std::string meshFolderPath("meshes/");
+
+    // Compute the radius and the center of the scene
+    openglframework::Vector3 center(0, 0, 0);
+
+    // Set the center of the scene
+    setScenePosition(center, SCENE_RADIUS);
+
+    // Gravity vector in the physics world
+    rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
+
+    rp3d::PhysicsWorld::WorldSettings worldSettings;
+    worldSettings.worldName = name;
+
+    // Logger
+    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
+    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
+            static_cast<uint>(rp3d::Logger::Level::Error);
+    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
+    mPhysicsCommon.setLogger(defaultLogger);
+
+    // Create the physics world for the physics simulation
+    rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
+    physicsWorld->setEventListener(this);
+    mPhysicsWorld = physicsWorld;
+
+    for (int b=0; b < NB_BRIDGES; b++) {
+
+        // Create all the boxes of the scene
+        for (int i=0; i<NB_BOXES; i++) {
+
+            const uint boxIndex = b * NB_BOXES + i;
+
+            // Create a box and a corresponding rigid in the physics world
+            mBoxes[boxIndex] = new Box(true, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
+
+            // Set the box color
+            mBoxes[boxIndex]->setColor(mObjectColorDemo);
+            mBoxes[boxIndex]->setSleepingColor(mSleepingColorDemo);
+
+            // Change the material properties of the rigid body
+            rp3d::Material& material = mBoxes[boxIndex]->getCollider()->getMaterial();
+            material.setBounciness(rp3d::decimal(0.0));
+
+            if (i == 0 || i == NB_BOXES-1) {
+                mBoxes[boxIndex]->getRigidBody()->setType(rp3d::BodyType::STATIC);
+            }
+
+            // Add the box the list of boxes in the scene
+            mPhysicsObjects.push_back(mBoxes[boxIndex]);
+        }
+    }
+
+    // Create all the spheres of the scene
+    for (int i=0; i<NB_BRIDGES; i++) {
+
+        // Create a sphere and a corresponding rigid in the physics world
+        mSpheres[i] = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
+
+        // Set the box color
+        mSpheres[i]->setColor(mObjectColorDemo);
+        mSpheres[i]->setSleepingColor(mSleepingColorDemo);
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = mSpheres[i]->getCollider()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.2));
+        mSpheres[i]->getRigidBody()->setMass(SPHERE_MASS);
+
+        // Add the sphere the list of sphere in the scene
+        mPhysicsObjects.push_back(mSpheres[i]);
+    }
+
+    // Set the position of the boxes before the joints creation
+    reset();
+
+    // Create the Ball-and-Socket joints
+    createJoints();
+
+    // Get the physics engine parameters
+    mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
+    rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
+    mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
+    mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
+    mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
+    mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
+    mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
+    mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
+    mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
+}
+
+// Destructor
+BridgeScene::~BridgeScene() {
+
+    // Destroy the joints
+    for (uint i=0; i < mHingeJoints.size(); i++) {
+
+        if (mHingeJoints[i] != nullptr) {
+            mPhysicsWorld->destroyJoint(mHingeJoints[i]);
+        }
+    }
+
+    // Destroy all the rigid bodies of the scene
+    for (int i=0; i<NB_BOXES * NB_BRIDGES; i++) {
+
+        mPhysicsWorld->destroyRigidBody(mBoxes[i]->getRigidBody());
+    }
+
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
+}
+
+// Create the joints
+void BridgeScene::createJoints() {
+
+    for (int b=0; b < NB_BRIDGES; b++) {
+
+        for (int i=0; i < NB_BOXES-1; i++) {
+
+            const uint box1Index = b * NB_BOXES + i;
+            const uint box2Index = b * NB_BOXES + i + 1;
+
+            // Create the joint info object
+            rp3d::RigidBody* body1 = mBoxes[box1Index]->getRigidBody();
+            rp3d::RigidBody* body2 = mBoxes[box2Index]->getRigidBody();
+            rp3d::Vector3 body1Position = body1->getTransform().getPosition();
+            rp3d::Vector3 body2Position = body2->getTransform().getPosition();
+            const rp3d::Vector3 anchorPointWorldSpace = body1Position + rp3d::Vector3(BOX_SIZE.x / 2.0f, 0, 0);
+            rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, rp3d::Vector3(0, 0, 1));
+            jointInfo.isCollisionEnabled = false;
+            rp3d::HingeJoint* joint = dynamic_cast<rp3d::HingeJoint*>(mPhysicsWorld->createJoint(jointInfo));
+            mHingeJoints.push_back(joint);
+        }
+    }
+}
+
+// Update the physics simulation
+void BridgeScene::updatePhysics() {
+
+    SceneDemo::updatePhysics();
+
+    // Test if the joints of the last bridge should break or not
+    for (int i=0; i <NB_BOXES-1; i++) {
+
+        const uint jointIndex = mHingeJoints.size() - 1 - i;
+        rp3d::HingeJoint* joint = mHingeJoints[jointIndex];
+
+        if (joint != nullptr) {
+
+            if (joint->getReactionForce(mEngineSettings.timeStep).lengthSquare() > 60000000) {
+                mPhysicsWorld->destroyJoint(joint);
+                mHingeJoints[jointIndex] = nullptr;
+            }
+        }
+    }
+}
+
+// Reset the scene
+void BridgeScene::reset() {
+
+    SceneDemo::reset();
+
+    const rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+
+    // Bridges
+    for (int b=0; b < NB_BRIDGES; b++) {
+
+        for (int i=0; i < NB_BOXES; i++) {
+
+            // Initial position and orientation of the rigid body
+            rp3d::Vector3 initPosition((-NB_BOXES/2 + i) * (BOX_SIZE.x + 0.2),
+                                        -7,
+                                        (-NB_BRIDGES/2 + b) * (BOX_SIZE.z + 4));
+            rp3d::Transform transform(initPosition, initOrientation);
+
+            // Create a box and a corresponding rigid in the physics world
+            mBoxes[b * NB_BOXES + i]->setTransform(transform);
+        }
+    }
+
+    // Spheres
+    for (int i=0; i < NB_BRIDGES; i++) {
+
+        // Initial position and orientation of the rigid body
+        rp3d::Vector3 initPosition(0,
+                                   10,
+                                   (-NB_BRIDGES/2 + i) * (BOX_SIZE.z + 4));
+
+        rp3d::Transform transform(initPosition, initOrientation);
+
+        // Create a box and a corresponding rigid in the physics world
+        mSpheres[i]->setTransform(transform);
+    }
+
+    // Destroy the joints
+    for (uint i=0; i < mHingeJoints.size(); i++) {
+
+        if (mHingeJoints[i] != nullptr) {
+            mPhysicsWorld->destroyJoint(mHingeJoints[i]);
+        }
+    }
+    mHingeJoints.clear();
+
+    createJoints();
+}

testbed/scenes/bridge/BridgeScene.h

@@ -0,0 +1,86 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
+* Copyright (c) 2010-2016 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+#ifndef BRIDGE_SCENE_H
+#define BRIDGE_SCENE_H
+
+// Libraries
+#include "openglframework.h"
+#include <reactphysics3d/reactphysics3d.h>
+#include "Box.h"
+#include "Sphere.h"
+#include "SceneDemo.h"
+
+namespace bridgescene {
+
+// Constants
+const float SCENE_RADIUS = 60.0f;
+const float SPHERE_RADIUS = 2.0f;
+const float SPHERE_MASS = 40.0f;
+const openglframework::Vector3 BOX_SIZE = openglframework::Vector3(2, 0.5, 4);
+const int NB_BRIDGES = 4;
+const int NB_BOXES = 16;
+
+// Class BridgeScene scene
+class BridgeScene : public SceneDemo {
+
+    protected :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Boxes
+        Box* mBoxes[NB_BOXES * NB_BRIDGES];
+
+        /// Spheres
+        Sphere* mSpheres[NB_BRIDGES];
+
+        /// Hinge joints of the bridge
+        std::vector<rp3d::HingeJoint*> mHingeJoints;
+
+        // -------------------- Methods -------------------- //
+
+        /// Create the joints
+        void createJoints();
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        BridgeScene(const std::string& name, EngineSettings& settings);
+
+        /// Destructor
+        virtual ~BridgeScene() override ;
+
+        /// Update the physics simulation
+        virtual void updatePhysics() override;
+
+        /// Reset the scene
+        virtual void reset() override;
+};
+
+}
+
+#endif

testbed/src/TestbedApplication.cpp

@@ -42,6 +42,7 @@
 #include "ballandsocketjointsnet/BallAndSocketJointsNetScene.h"
 #include "ballandsocketjointschain/BallAndSocketJointsChainScene.h"
 #include "hingejointschain/HingeJointsChainScene.h"
+#include "bridge/BridgeScene.h"
 
 using namespace openglframework;
 using namespace jointsscene;
@@ -57,6 +58,7 @@ using namespace boxtowerscene;
 using namespace ballandsocketjointsnetscene;
 using namespace ballandsocketjointschainscene;
 using namespace hingejointschainscene;
+using namespace bridgescene;
 
 // Initialization of static variables
 const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f;
@@ -171,6 +173,10 @@ void TestbedApplication::createScenes() {
     HingeJointsChainScene* hingeJointsChainScene = new HingeJointsChainScene("Hinge Joints Chain", mEngineSettings);
     mScenes.push_back(hingeJointsChainScene);
 
+    // Bridge scene
+    BridgeScene* bridgeScene = new BridgeScene("Bridge", mEngineSettings);
+    mScenes.push_back(bridgeScene);
+
     assert(mScenes.size() > 0);
 
     const int firstSceneIndex = 0;